/*
 * Copyright (C) 2015, Lentin Joseph and Qbotics Labs Inc.
 * Email id : qboticslabs@gmail.com
 *
 * Copyright (C) 2020, Lentin Joseph and Qbotics Labs Inc. and Jonathan Cacace.
 * Email id : qboticslabs@gmail.com jonathan.cacace@gmail.com
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "ros/ros.h" 
#include "std_msgs/Int32.h" 
#include <iostream> 

int main(int argc, char **argv) { 
    ros::init(argc, argv,"demo_topic_publisher"); 
    ros::NodeHandle node_obj; 
    ros::Publisher number_publisher =  node_obj.advertise<std_msgs::Int32>("/numbers", 10); 
    ros::Rate loop_rate(10); 
    int number_count = 0; 
    while ( ros::ok() ) { 
        std_msgs::Int32 msg; 
        msg.data = number_count; 
        ROS_INFO("%d",msg.data); 
        number_publisher.publish(msg); 
        ros::spinOnce(); 
        loop_rate.sleep(); 
        ++number_count; 
    } 
    return 0; 
} 